Locomotion generation of friction board with an inclined slider

Author

Suzuki, Yoshihiro ; Li, Hongyi ; Furuta, Katsuhisa

Author_Institution

Tokyo Denki Univ., Tokyo

fYear

2007

fDate

12-14 Dec. 2007

Firstpage

1937

Lastpage

1943

Abstract

There are various ways to generate the locomotion and moving systems. In this research, we design a new moving system without wheels, named friction board system, that realizes locomotion with internal actuated mass mounted on an inclined slider of a board. Directional locomotion can be generated by the motion of the internal mass on the slider and friction between the board and the horizontal ground. By inclining the slider, the friction board system can control the friction force and realize more effective locomotion. First, dynamic equations of the friction board system are derived. Then a feedback controller for locomotion is devised using LQ method. Finally the locomotion generation law of the friction board system is verified experimentally.

Keywords

control system synthesis; feedback; force control; friction; legged locomotion; linear quadratic control; robot dynamics; LQ method; directional locomotion generation law; dynamic equations; feedback controller; friction board system design; friction force control; inclined slider; internal actuated mass; Cleaning; Control systems; Educational robots; Force control; Friction; Legged locomotion; Mobile robots; Robotics and automation; USA Councils; Wheels;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 2007 46th IEEE Conference on

Conference_Location

New Orleans, LA

ISSN

0191-2216

Print_ISBN

978-1-4244-1497-0

Electronic_ISBN

0191-2216

Type

conf

DOI

10.1109/CDC.2007.4434269

Filename

4434269